Second-Order Consensus of Multiple Agents with Bounded Control Inputs and Preserved Network Connectivity

This paper investigates second-order consensus of multi-agent systems with a virtual leader of varying velocity while preserving network connectivity. We propose a novel second-order consensus algorithm with bounded control inputs. Under the condition that the initial network is connected, the network will be connected all the time and all agents and the virtual leader can attain the same position and move with the same velocity. A simulation example is proposed to illustrate the effective of the proposed algorithm. (general)